#ifndef _MOTORS_H_
#define _MOTORS_H_

#include "SerialWrapper.h"
#include "MotorControler.h"

#include <boost/thread/thread.hpp>


class Motors : public SerialWrapper
{
	public:
		Motors(int ResetGpioNumber, short ComNum, int BaudRate, double p, double i, double d);
		~Motors();
		void WriteToBus(char* Message, int MessageSize);

		void ResetActuartors();

		void Run();
		void IterationsThread();
		void Stop();

		int m_ResetGpioNumber;
		MotorControler * m_LeftMotor;
		MotorControler * m_RightMotor;

		int m_ResetGpioFd;
		bool m_shallStop;

		boost::thread * m_Thread;

};

#endif
